Abstract
To enhance the control performance of permanent-magnet synchronous motor (PMSM) drive systems, achieving high-precision motion control, a generalized predictive control (GPC) method based on a novel extended-state observer (ESO) is investigated for the speed control of PMSM. In this paper, the controller design consists of two steps. Firstly, according to the continuous time model of PMSM, using the Taylor series expansion, the predictive value of motor speed in finite time is derived, and the single-loop speed controller by combining the speed loop and q - axis current loop is obtained through the defined cost function. The structure of the controller is simple compared to other forms. Secondly, considering the uncertainty of the load torque and the model uncertainties, a novel extended-state observer is designed to compute the actual torque, and the observed value is introduced to the GPC controller. The simulation and experimental results show that the proposed GPC+ESO control method has superior dynamic performance and strong robustness.
Highlights
Permanent-magnet synchronous motors (PMSMs) are extensively used in the field of electric vehicle (EV) drive systems, robots, and CNC machine tools, because of its advantages in compact structure, reliability, high efficiency, and power density
generalized predictive control (GPC)+extended-state observer (ESO) and proportional integral (PI) controller are compared in simulations
A predictive speed-control algorithm based on a novel extended-state observer for PMSM drives is proposed
Summary
Permanent-magnet synchronous motors (PMSMs) are extensively used in the field of electric vehicle (EV) drive systems, robots, and CNC machine tools, because of its advantages in compact structure, reliability, high efficiency, and power density. Due to the existence of inevitable model uncertainties and external disturbances, the general linear control methods cannot satisfy the requirement in high-performance applications of PMSM control systems. In [10], according to the linear discrete time model of PMSM, a predictive control method is used in the speed and current loop, and a disturbance model is embedded in the speed loop to improve the robustness of the motor. In [14], a nonlinear predictive controller for PMSM is designed, and the load torque as a disturbance variable is estimated by an observer. In this paper, according to the continue time predictive control theory, a novel predictive speed controller based on the extended-state observer is proposed for PMSM, which combines the speed loop and the q−axis current loop together.
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